U.S. patent number 10,232,722 [Application Number 15/290,449] was granted by the patent office on 2019-03-19 for system, method, and apparatus for controlling operation of energy modules of an energy management system.
This patent grant is currently assigned to TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC.. The grantee listed for this patent is TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC.. Invention is credited to Masanori Ishigaki.
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United States Patent |
10,232,722 |
Ishigaki |
March 19, 2019 |
System, method, and apparatus for controlling operation of energy
modules of an energy management system
Abstract
A system includes energy modules that output power to an energy
management bus based on load demands. An energy module includes
energy cells enclosed within a module housing that provide power to
the energy management bus and rotation assemblies attached on
opposite ends of the module housing that provide rotational
movement for the energy module. The energy module includes a local
controller that controls power output from the energy cells to the
energy management bus, engages a self-driving mode in response to
receiving a disconnection signal from a central controller, and
controls movement of the energy module in the self-driving mode to
a predetermined location via the first rotation assembly and the
second rotation assembly. The central controller receives a current
module status from the energy modules and controls a configuration
of the energy modules providing power to the energy management bus
based on the current module status.
Inventors: |
Ishigaki; Masanori (Ann Arbor,
MI) |
Applicant: |
Name |
City |
State |
Country |
Type |
TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA,
INC. |
Erlanger |
KY |
US |
|
|
Assignee: |
TOYOTA MOTOR ENGINEERING &
MANUFACTURING NORTH AMERICA, INC. (Erlanger, KY)
|
Family
ID: |
61830602 |
Appl.
No.: |
15/290,449 |
Filed: |
October 11, 2016 |
Prior Publication Data
|
|
|
|
Document
Identifier |
Publication Date |
|
US 20180099568 A1 |
Apr 12, 2018 |
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60L
53/68 (20190201); H02K 9/06 (20130101); H02K
7/108 (20130101); H02K 11/33 (20160101); B60L
53/14 (20190201); G05D 1/0225 (20130101); H02K
7/14 (20130101); B60L 58/21 (20190201); B60L
50/66 (20190201); B60L 53/80 (20190201); B60L
50/64 (20190201); B60L 53/38 (20190201); H02K
2213/12 (20130101); Y02T 10/7072 (20130101); Y02T
90/12 (20130101); G05D 1/021 (20130101); Y02T
90/14 (20130101); Y02T 90/168 (20130101); Y02T
10/64 (20130101); H02P 27/06 (20130101); B60L
2260/32 (20130101); Y02T 10/70 (20130101); Y04S
30/12 (20130101); Y02T 90/16 (20130101) |
Current International
Class: |
B60S
5/06 (20190101); H02K 9/06 (20060101); H02K
7/108 (20060101); H02K 7/14 (20060101); H02K
11/33 (20160101); G05D 1/02 (20060101); H02P
27/06 (20060101) |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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|
|
|
|
|
|
10 2009 019 384 |
|
Nov 2010 |
|
DE |
|
2 989 522 |
|
Oct 2013 |
|
FR |
|
WO 00/58139 |
|
Oct 2000 |
|
WO |
|
Other References
English machine translation of FR2989522 published Oct. 18, 2013.
cited by examiner.
|
Primary Examiner: Barnie; Rexford
Assistant Examiner: Shiao; David
Attorney, Agent or Firm: Oblon, McClelland, Maier &
Neustadt, L.L.P.
Claims
The invention claimed is:
1. A system comprising: one or more energy modules configured to
output power to an energy management bus based on load demands
wherein an energy module of the one or more energy modules includes
one or more energy cells connected in a series-parallel combination
and enclosed within a module housing configured to provide the
power to the energy management bus, a first rotation assembly and a
second rotation assembly attached on opposite ends of the module
housing that are configured to provide rotational movement for the
energy module, and a local controller with first circuitry
configured to control an amount of power output from the one or
more energy cells to the energy management bus, engage a
self-driving mode of the energy module in response to receiving a
disconnection signal from a central controller, and control
movement of the energy module in the self-driving mode to a
predetermined location via the first rotation assembly and the
second rotation assembly; and the central controller including
second circuitry configured to receive a current module status from
the one or more energy modules, and control a configuration of the
one or more energy modules providing power to the energy management
bus based on the current module status, wherein the first rotation
assembly and the second rotation assembly include: a motor
configured to receive electrical power from the one or more energy
cells; one or more devices coupled to the motor that are configured
to rotate in response to rotation of the motor; and wherein one of
the one or more devices is a wheel assembly that is detachably
coupled to the motor via a clutch mechanism configured to provide
the rotational movement of the energy modules in response to the
rotation of the motor, another one of the one or more devices being
a fan to cool the one or more energy cells.
2. The system of claim 1, wherein the first circuitry is further
configured to disconnect the wheel assembly from the motor via the
clutch mechanism when the energy module is not in the self-driving
mode.
3. The system of claim 1, wherein the first circuitry is further
configured to output a replacement status signal to the central
controller in response to determining that current module status of
the energy module meets one or more replacement criteria.
4. The system of claim 3, wherein the one or more replacement
criteria include at least one of a predetermined state of charge
(SOC) threshold or a predetermined state of health (SOH) threshold
for the one or more energy cells.
5. The system of claim 1, wherein the first circuitry is further
configured to engage a navigation sub-mode of the self-driving mode
wherein the first circuitry is further configured to navigate the
energy module to the predetermined location that corresponds to a
charging station location.
6. The system of claim 5, wherein the first circuitry is further
configured to determine the charging station location based on
location data received from the second circuitry of the central
controller.
7. The system of claim 5, wherein the first circuitry is further
configured to determine the charging station location based on a
beacon signal received from the charging station.
8. The system of claim 1, further comprising a module chassis
configured to hold the one or more energy modules at one or more
docking positions within the module chassis.
9. The system of claim 8, wherein the one or more docking positions
include at least one electrical terminal configured to electrically
connect the one or more energy modules to the energy management
bus.
10. The system of claim 9, wherein the at least one electrical
terminal includes a wireless power transceiver configured to
wirelessly transfer power between the one or more energy modules
and the energy management bus.
11. The system of claim 8, wherein the second circuitry of the
central controller is further configured to control a position of a
door of the module chassis.
12. The system of claim 11, wherein the second circuitry is further
configured to output the disconnection signal to the one or more
energy modules in response to determining that the door of the
module chassis is in an open position.
13. The system of claim 12, wherein the door of the module chassis
is configured to provide a driving surface between the module
chassis and the predetermined location for the one or more energy
modules operating in the self-driving mode when the door is in an
open position.
14. The system of claim 8, wherein the first circuitry of an energy
module of the one or more energy modules in a first docking
position of the one or more docking positions is further configured
to engage a repositioning sub-mode of the self-driving mode wherein
the first circuitry is further configured to navigate the energy
module to the predetermined location that corresponds to a second
docking position within the module chassis.
15. The system of claim 14, wherein the first circuitry is further
configured to navigate the energy module to the second docking
position within the module chassis based on a beacon signal
received from the second docking position.
16. The system of claim 1, wherein the second circuitry is further
configured to determine the predetermined location to which the
energy module navigates based on charging/replacement location
information received from a cloud-based energy module monitoring
system.
17. The system of claim 1, wherein the second circuitry is further
configured to output firmware updates to the one or more energy
modules in response to receiving the firmware updates from a
cloud-based energy module monitoring system.
18. A method comprising: controlling, via first circuitry of a
local controller, an amount of power output from one or more energy
cells connected in a series-parallel combination and enclosed
within a module housing of an energy module of one or more energy
modules to an energy management bus of an electrical system;
engaging, via the first circuitry, a self-driving mode of the
energy module in response to receiving a disconnection signal from
a central controller; controlling, via the first circuitry,
movement of the energy module in the self-driving mode to a
predetermined location via a first rotation assembly and a second
rotation assembly attached on opposite ends of the module housing
that are configured to provide rotational movement for the energy
module; receiving, at second circuitry of the central controller, a
current module status from the one or more energy modules; and
controlling a configuration of the one or more energy modules
providing power to the energy management bus based on the current
module status received from the one or more energy modules, wherein
the first rotation assembly and the second rotation assembly
include a motor configured to receive electrical power from the one
or more energy cells, and the method further comprises rotating one
or more devices coupled to the motor in response to rotation of the
motor, and wherein one of the one or more devices is a wheel
assembly that is detachably coupled to the motor via a clutch
mechanism configured to provide the rotational movement of the
energy modules in response to the rotation of the motor, another
one of the one or more devices being a fan to cool the one or more
energy cells.
19. An energy module comprising: one or more energy cells connected
in a series-parallel combination and enclosed within a module
housing configured to provide power to an energy management bus; a
first rotation assembly and a second rotation assembly attached on
opposite ends of the module housing that are configured to provide
rotational movement for the energy module; and a local controller
with first circuitry configured to control an amount of power
output from the one or more energy cells to the energy management
bus, engage a self-driving mode of the energy module in response to
receiving a disconnection signal from a central controller, and
control movement of the energy module in the self-driving mode to a
predetermined location via the first rotation assembly and the
second rotation assembly, wherein the first rotation assembly and
the second rotation assembly include: a motor configured to receive
electrical power from the one or more energy cells; one or more
devices coupled to the motor that are configured to rotate in
response to rotation of the motor; and wherein one of the one or
more devices is a wheel assembly that is detachably coupled to the
motor via a clutch mechanism configured to provide the rotational
movement of the energy modules in response to the rotation of the
motor, another one of the one or more devices being a fan to cool
the one or more energy cells.
Description
BACKGROUND
Energy management systems in hybrid vehicles (HVs) and electric
vehicles (EVs) include energy modules that provide power to a
vehicle drive train and electric loads of the vehicle. U.S. Patent
Application Publication 2012/0286730 to Bonny describes an
automatic recharging robot for electric and hybrid vehicles that is
housed in an underside of a vehicle and is configured to
automatically navigate to a detected compatible recharging
station.
SUMMARY
In an exemplary implementation, a system can include energy modules
that output power to an energy management bus based on load
demands. An energy module can include energy cells enclosed within
a module housing that provide power to the energy management bus
and rotation assemblies attached on opposite ends of the module
housing that provide rotational movement for the energy module. The
energy module can include a local controller that controls power
output from the energy cells to the energy management bus, engages
a self-driving mode in response to receiving a disconnection signal
from a central controller, and controls movement of the energy
module in the self-driving mode to a predetermined location via the
first rotation assembly and the second rotation assembly. The
central controller can receive a current module status from the
energy modules and control a configuration of the energy modules
providing power to the energy management bus based on the current
module status.
The first rotation assembly and the second rotation assembly can
include a motor configured to receive electrical power from the one
or more energy cells; a fan coupled to the motor that is configured
to provide air flow to the energy module in response to rotation of
the motor; and a wheel assembly that is detachably coupled to the
motor via a clutch mechanism configured to provide the rotational
movement of the energy modules in response to the rotation of the
motor. The system can disconnect the wheel assembly from the motor
via the clutch mechanism when the energy module is not in the
self-driving mode.
The system can output a replacement status signal to the central
controller in response to determining that current module status of
the energy module meets one or more replacement criteria. The one
or more replacement criteria can include at least one of a
predetermined state of charge (SOC) threshold or a predetermined
state of health (SOH) threshold for the one or more energy
cells.
The system can engage a navigation sub-mode of the self-driving
mode wherein the first circuitry is further configured to navigate
the energy module to the predetermined location that corresponds to
a charging station location. The system can also determine the
charging station location based on location data received from the
second circuitry of the central controller. The system can also
determine the charging station location based on a beacon signal
received from the charging station.
The system can also include a module chassis configured to hold the
one or more energy modules at one or more docking positions within
the module chassis. The one or more docking positions can include
at least one electrical terminal configured to electrically connect
the one or more energy modules to the energy management bus. The at
least one electrical terminal can a wireless power transceiver
configured to wirelessly transfer power between the one or more
energy modules and the energy management bus. The central
controller can control a position of a door of the module chassis.
The central controller can also output the disconnection signal to
the one or more energy modules in response to determining that the
door of the module chassis is in an open position. The door of the
module chassis can provide a driving surface between the module
chassis and the predetermined location for the one or more energy
modules operating in the self-driving mode when the door is in an
open position. The system can engage a repositioning sub-mode of
the self-driving mode wherein the first circuitry is further
configured to navigate the energy module to the predetermined
location that corresponds to a second docking position within the
module chassis and can also navigate the energy module to the
second docking position within the module chassis based on a beacon
signal received from the second docking position.
The central controller can determine the predetermined location to
which the energy module navigates based on charging/replacement
location information received from a cloud-based energy module
monitoring system.
The system can output firmware updates to the one or more energy
modules in response to receiving the firmware updates from a
cloud-based energy module monitoring system.
A process includes controlling, via first circuitry of a local
controller, an amount of power output from one or more energy cells
enclosed within a module housing of an energy module of one or more
energy modules to an energy management bus of an electrical system;
engaging, via the first circuitry, a self-driving mode of the
energy module in response to receiving a disconnection signal from
a central controller; controlling, via the first circuitry,
movement of the energy module in the self-driving mode to a
predetermined location via a first rotation assembly and a second
rotation assembly attached on opposite ends of the module housing
that are configured to provide rotational movement for the energy
module; receiving, at second circuitry of a central controller, a
current module status from the one or more energy modules; and
controlling a configuration of the one or more energy modules
providing power to the energy management bus based on the current
module status received from the one or more energy modules.
An energy module includes one or more energy cells enclosed within
a module housing configured to provide power to an energy
management bus; a first rotation assembly and a second rotation
assembly attached on opposite ends of the module housing that are
configured to provide rotational movement for the energy module;
and a local controller with first circuitry configured to control
an amount of power output from the one or more energy cells to the
energy management bus, engage a self-driving mode of the energy
module in response to receiving a disconnection signal from a
central controller, and control movement of the energy module in
the self-driving mode to a predetermined location via the first
rotation assembly and the second rotation assembly.
The foregoing general description of exemplary implementations and
the following detailed description thereof are merely exemplary
aspects of the teachings of this disclosure, and are not
restrictive.
BRIEF DESCRIPTION OF THE DRAWINGS
A more complete appreciation of this disclosure and many of the
attendant advantages thereof will be readily obtained as the same
becomes better understood by reference to the following detailed
description when considered in connection with the accompanying
drawings, wherein:
FIG. 1 is an exemplary schematic diagram of a modular energy
management system;
FIG. 2 is an exemplary illustration of an energy module;
FIG. 3 is an exemplary schematic diagram of an energy module;
FIG. 4 is an exemplary graph of output power and efficiency for an
energy module;
FIG. 5 is an exemplary illustration of a rotation assembly of an
energy module;
FIG. 6 is an exemplary illustration of energy modules in a module
chassis of a vehicle;
FIG. 7 is an exemplary illustration of an energy module at a
charging station;
FIG. 8 is an exemplary illustration of an energy module
application;
FIG. 9 is an exemplary diagram of a cloud-based energy module
monitoring system;
FIG. 10 is an exemplary flowchart of an energy module control
process;
FIG. 11 is an exemplary flowchart of an energy management system
control process;
FIG. 12 is an exemplary flowchart of an energy module monitoring
system control process; and
FIG. 13 schematically illustrates a processing system, such as a
controller and/or a computer system.
DETAILED DESCRIPTION
In the drawings, like reference numerals designate identical or
corresponding parts throughout the several views. Further, as used
herein, the words "a," "an" and the like generally carry a meaning
of "one or more," unless stated otherwise. The drawings are
generally drawn to scale unless specified otherwise or illustrating
schematic structures or flowcharts.
FIG. 1 is an exemplary illustration of a modular energy management
system 100 that can be implemented in a hybrid vehicle (HV) or
electric vehicle (EV). The energy management system 100 controls
transfer of electric energy from one or more energy sources to an
inverter 102 and motor 114 as well as one or more electrical loads
110 of the vehicle. Throughout the disclosure, the inverter 102 and
motor 114 are interchangeably referred to as the vehicle drive
train. The modular energy management system 100 includes at least
one battery module 122 that provides power to inverter 102 and
motor 114 via voltage converter 104 and high voltage relay 116. In
some implementations, the high voltage relay 116 includes at least
one switch aligns power to the vehicle drive train based on a
control signal from a central controller 128. In addition, the at
least one battery module 122 is an energy module that includes at
least one battery cell, a local controller, and a modular isolated
DC-DC converter 124 that converts the DC voltage from the battery
module 122 to an energy management bus 126. In some
implementations, the modular isolated DC-DC converter 124 converts
a higher DC voltage at the at least one battery module 122 to a
lower voltage at an energy management bus 126. The modular isolated
DC-DC converter 124 can be part of the battery module 122 or can be
external to the battery module 122. In addition, the modular
isolated DC-DC converter 124 can be configured for wireless power
transfer so that power can be wirelessly transferred between the at
least one battery module 122 and the energy management bus 126. The
at least one battery module 122 can be connected in series or
parallel based on the power specifications of the modular energy
management system 100.
The central controller 128 and local controllers for each of the at
least one battery module 122 manage the power output from the at
least one battery module 122 as well as power demands of the one or
more electrical loads 110 to provide droop control for the energy
management bus 126. In addition, the local controllers for the at
least one battery module 122 communicate information to the central
controller 128 that includes diagnostic information, state of
charge (SOC), rate of discharge, and the like. Details regarding
operation of the central controller 128 and local controllers are
discussed further herein.
In some implementations, the energy management bus 126 is a DC bus
that connects the at least one battery module 122 to the one or
more electrical loads 110 via a DC-DC converter 130. In some
aspects, the DC-DC converter 130 is a non-isolated DC-DC converter
that can perform DC-DC conversion at higher speeds than isolated
DC-DC converters. The DC-DC converter 130 can convert a higher DC
voltage at the energy management bus 126 to a lower voltage that
corresponds to the voltage of the one or more electrical loads
110.
In addition, a power storage device 132 is also connected to the
energy management bus 126. In some implementations, the power
storage device 132 can be a capacitor, an electric double layer
capacitor (EDLC), a lithium-ion capacitor, or any other type of
power storage device. The type of power storage device 132 used in
the modular energy management system 100 can be based on rates of
power transfer and how much of an effect power transients have on
the energy management bus 126. The power storage device 132 can
reduce the effects of power transients that occur at the energy
management bus 126 and assist in maintaining an approximately
constant average voltage at the energy management bus 126. In some
aspects, the effects of power transients on the energy management
bus 126 can be referred to as "peaky power." By reducing the
effects of peaky power on the energy management bus 126, the power
storage device 132 reduces stresses on the at least one battery
module 122 and the Pb battery 112.
For example, power demands of the one or more electrical loads 110
can vary based on the number of energized loads, load settings, and
the like. As the load demands on the modular energy management
system 100 change, a response time by the modular isolated DC-DC
converter 124 of the at least one battery module 122 that is slower
than the increase in load demand may cause power transients to
develop at the energy management bus 126. Stored energy from the
power storage device 132 can be output to reduce the magnitude of
the power transients. The power storage device 132 can also absorb
excess power as load demands on the modular energy management
system 100 are reduced. The modular energy management system 100
also includes a lead (Pb) battery 112 that also supplies power to
the one or more electrical loads 110. In some implementations, the
modular energy management system 100 also includes the solar energy
module 134 that is connected to the energy management bus 126 via
the modular DC-DC converter 136. In some implementations, the
modular DC-DC converter c136 can be configured to perform wireless
power transfer. The solar energy module 134 can provide power to
the one or more electrical loads 110 via the DC-DC converter
130.
FIG. 2 is an exemplary illustration of an energy module 200 that
provides power to the modular energy management system 100. For
example, the energy module 200 can be an implementation of the
battery module 122 described previously (FIG. 1). The energy module
200 includes one or more electrically connected energy cells, such
as battery cells 204. In one implementation, the battery cells 204
are 18650 lithium-ion cells, and the energy module 200 includes 672
battery cells in a 56-parallel, 12-series configuration. The
battery cells 204 are housed in a module housing 216 of the energy
module 200, which has a cylindrical shape according to one example.
The battery cells 204 can also be aligned in other electrical
configurations and can be implemented with other types of battery
or energy cells. In addition, the module housing 216 can have other
shapes besides the cylindrical shape, such as square, rectangular,
oval, etc. The weight and volume of the energy module 200 less than
conventional energy module configurations and also have increased
range.
The energy module 200 also includes rotation assemblies 202 that
are connected to opposite surfaces of the module housing 216 that
stores the battery cells 204. In the case of a cylindrical module
housing 216, the rotation assemblies 202 are connected to flat
surfaces on each end of the module housing 216. Each rotation
assembly 202 includes a motor 208 that is coupled to a fan 206 and
a wheel assembly 214. As the motor 208 rotates, the fan 206
provides cooling air flow to the battery cells 204 within the
module housing 216. In addition, the wheel assembly 214 is
detachably coupled to the motor 208 to provide rotational movement
for the energy module 200. A clutch mechanism connects or
disconnects the wheel assembly 214 from the motor 208. Details
regarding the operation of the rotation assemblies 202 are
discussed further herein.
The energy module 200 also includes a controller 210 with suitable
logic and circuitry that locally controls operations of the energy
module 200. References to various types of circuitry of the
controller 210 (e.g., monitoring circuitry, communication
circuitry, power transfer circuitry, drive control circuitry, etc.)
refer to software instructions stored in memory that are executed
by a processor of the controller 210. The controller 210 can be
referred to interchangeably as a local controller.
For example, the controller 210 includes monitoring circuitry that
receives sensor data from one or more sensors installed in the
energy module 200 that can include voltage sensors, current
sensors, temperature sensors, and any other type of sensor that
allows the controller 210 to determine a current status of the
energy module 200. For example, the current status on the energy
module 110 can include a state of charge (SOC), state of health
(SOH), or current operation mode of the energy module 200. In some
implementations, the SOH of the energy module 200 is percentage
indicating how close various measured parameters correspond to
specifications of the energy module 200. For example, the measured
parameters that are used to determine the SOH can include internal
impedance (e.g., resistance, inductance, or capacitance), capacity,
voltage, self-discharge, ability to accept a charge, or number of
charge-discharge cycles that have been performed.
In some aspects, the controller 210 of the energy module 200
outputs a replacement status signal to a central controller 128 of
the modular energy management system 100 (e.g., central controller
128 in FIG. 1) when predetermined replacement criteria for the
energy module 200 are met. The predetermined replacement criteria
can include a predetermined SOC threshold or SOH threshold. For
example, the controller 210 outputs the replacement status signal
to the central controller 128 when the SOC of the energy module 200
is less than the SOC threshold. In addition, the controller 210 can
output the current status of the energy module 110 to the central
controller 128 at a predetermined frequency, and the central
controller 128 can determine when the predetermined replacement
criteria are met.
The controller 210 also includes communication circuitry that
allows the controller 210 to communicate with other devices, such
as the central controller 128 of the modular energy management
system 100, a cloud-based module monitoring system, a charging
station, other energy modules, or a module chassis that stores at
least one of the energy module 200 and connects the at least one
energy module to the modular energy management system 100. The
communication circuitry can include transceivers, antennas, and
associated circuitry that provide for wireless communication
between the controller 210 and the other devices via one or more
wireless communication protocols. The wireless communication
protocols can include WI-FI, cellular communication (e.g., 3G, 4G,
LTE, GSM, etc.), Bluetooth, Bluetooth low energy (BLE), or any
other wireless communication technology that is known. For example,
the controller 210 can locate a position of a charging station by
establishing a Bluetooth or BLE link with the charging station. In
addition, the controller 210 can communicate with the cloud-based
module monitoring system via a cellular network connection.
The controller 210 also includes power transfer control circuitry
that control transfer of energy out of or into the battery cells
204 of the energy module 200. In some implementations, the energy
module 200 has a corresponding DC-DC power conversion circuit
(e.g., modular isolated DC-DC power converter 124 in FIG. 1) that
transfers energy between energy modules or between the energy
management bus (e.g., energy management bus 126 in FIG. 1) and the
energy module 200. The controller 210 of the energy module 200 can
output control signals to the DC-DC power conversion circuit to
control a direction of power transfer and a rate of power transfer
based on the current status of the energy module 200 or a control
signal received from the central controller 128. In some
implementations, the energy module 200 includes electrical
terminals 212 that electrically connect the energy module 200 to
the energy management bus. In some aspects, the terminals 212
include a wireless power transceiver that provides for wireless
power transfer between the energy module 200 and the energy
management bus.
The controller 210 also includes drive control circuitry that
controls the operation of the rotation assemblies 202 as well as
self-navigation of the energy module 200. In some implementations,
the controller 210 is configured to determine an operational mode
for the energy module 200 based on control signals received from
the central controller 128 of the energy management system 100,
detected beacon signals from charging stations, etc. For example,
one operational mode of the energy module 200 is a self-driving
mode where the controller 210 navigates the energy module 200 to a
predetermined location. Throughout the disclosure, references to
navigating or navigation of the energy module 200 refer to
independent control of movement of the energy module 200 by the
controller 210 that can include determining a direction and speed
of motion and controlling operation of the rotation assemblies 202
to achieve the determined direction and speed of motion. In a
navigation sub-mode of the self-driving mode, the controller 210
navigates the energy module 200 to a charging station or a location
other than the module chassis. In a repositioning sub-mode of the
self-driving mode, the controller 210 navigates the energy module
200 to another docking position within the module chassis. The
controller 210 can also operate the energy module 200 in other
operational modes, such as a power transfer mode or a charging
mode. The controller 210 also outputs control signals to actuators
that control the rotation assemblies 202, such as actuators that
control clutch engagement, and/or rotation speed of the motor 208,
steering of the energy module 200 based on the operational mode and
a predetermined location to which the energy module 200 is
navigating, such as a charging station or other docking position
location within the module chassis. Details regarding the operation
of the energy module 200 in the various operational modes are
discussed further herein.
The controller 210 and thus the energy module 200 can operate
independently of the central controller 128 of the energy
management system 100, which provides flexibility with respect to
changing out energy modules for charging operations, using the
energy module 200 for multiple applications, and the like. For
example, the energy module 200 can provide power to other types of
energy management systems, such as electric systems of small
vehicles or buildings. Throughout the disclosure, several
implementations of the energy module 200 are described. It can be
understood that other references to energy modules herein (e.g.,
energy modules 300, 608, 612, 614, 616, 704, 802) include the
components of the energy module 200 and can be referred to
interchangeably with the energy module 200.
FIG. 3 is an exemplary electrical schematic diagram energy module
300, which is an implementation of the energy module 200 described
previously. The energy module 300 described by FIG. is a battery
module, such as the battery module 122 in the modular energy
management system 100. Energy modules having other types of power
sources can also be included in the modular energy management
system 100. For example, solar energy modules, AC charging modules,
fuel cell modules, and the like, are other types of energy modules
that can be included in the modular energy management system 100.
The energy module 300 includes at least one source cell 302, such
as a battery cell (e.g., battery cell 204 in FIG. 2), a modular
DC-DC converter 312, a local controller 306 with a transceiver 310,
and sensor devices 308. In some implementations, the modular DC-DC
converter 312 is included as part of the energy module 300, but can
also be external to the energy module 300.
In some implementations, the local controller 306 is an
implementation of the controller 210 described previously (FIG. 2).
The power transfer circuitry of the local controller 306 receives
voltage-power (V-P) maps and other information from the central
controller 128 of the modular energy management system 100 that
indicates how energy module 300 is configured and operates with
respect to the modular energy management system 100. The local
controller 306 also reads the voltage at an energy management bus,
and issues control signals to align the modular DC-DC converter 312
to achieve an output power that corresponds to the received V-P
map. The modular DC-DC converter 312 can be an isolated or a
non-isolated DC-DC converter. The local controller 306 also
receives sensor values from at least one sensor device 308 that can
include temperature, voltage, current, SOC, SOH, and other
indications related to the at least one source cell 302. The at
least one sensor device can also determine if at least one fuse 304
within the at least one source cell 302 has received a trigger
event to shut down the at least one source cell 302. For example,
the at least one internal fuse 304 can be set to trip on
overcurrent, high temperature, overload, and the like. In some
implementations, the local controller 306 includes a memory to save
the V-P map information received from the central controller 128
and the sensor values received from the at least one sensor device
308.
The local controller 306 communicates with the central controller
128 of the modular energy management system 100 via transceiver 310
and associated communication circuitry. The transceiver 310 can
include at least one transmitter and receiver antenna to receive
signals from the central controller 128 and transmit signals to the
central controller 128. For example, the local controller 306 can
transmit diagnostic information via the transceiver 310 to the
central controller 128 related to the energy module 300 and can
receive V-P map information from the central controller 128. The
transceiver can also be implemented as separate transmitter and
receiver devices according to some implementations. The local
controller 306 can also communicate with other devices via one or
more wireless communication protocols. The wireless communication
protocols can include WI-FI, cellular communication (e.g., 3G, 4G,
LTE, GSM, etc.), Bluetooth, Bluetooth low energy (BLE), or any
other wireless communication technology that is known. For example,
the local controller 306 can locate a position of a charging
station by establishing a Bluetooth or BLE link with the charging
station. In addition, the local controller 306 can communicate with
the cloud-based module monitoring system via a cellular network
connection.
Output signal 314 from the modular DC-DC converter 310 is sent to
the energy management bus to maintain continuous power to one or
more electrical loads of the modular energy management system 100.
In some implementations, a high voltage output signal 316 can be
output from the energy module 300 upstream of the DC-DC converter
312 to provide power to the vehicle drive train. For example, the
high voltage output signal 316 can be connected in series with high
voltage output signals from other energy modules to provide power
to the vehicle drive train components. In addition, the high
voltage output signal can provide power to a motor controller 320,
which provides power to a rotation device 318, such as the motor
208 associated with the rotation assemblies 202 (FIG. 2) of the
energy module 200. Also, the local controller 306 outputs control
signals to the motor controller 320 to control the speed and
direction of rotation of the rotating device 318.
FIG. 4 includes exemplary graphs of efficiency 400 and output power
402 for an energy module, such as the energy module 300 (FIG. 3).
In some implementations, the local controller 306 can control an
amount of power output by the energy module 300 based on an
efficiency profile for the energy module, which may be stored in
the memory of the local controller 306. The energy module 300 can
be configured to output a predetermined amount of power that
corresponds to a highest operating efficiency for the energy module
300, such as at point 404 of the graph 400. The graph 402
illustrates how the local controller 306 can be configured to
implement duty cycle control to modify the amount of power output
from the energy module 300 to be as close to the highest operating
efficiency for the energy module 300 as possible. Using duty cycle
control to modify the amount of output power can be beneficial in
wireless power transfer implementations where magnetic resonance
wireless power transfer devices operate with sharp efficiency
curves.
FIG. 5 is an exemplary illustration of rotation assemblies 500 and
502 of an energy module 200, which are implementations of the
rotation assemblies 202 (FIG. 1). For example, rotation assembly
500 includes wheel assembly 510a that is disconnected from motor
506a. When the energy module 200 is in a power transfer mode or a
charging mode, clutch mechanism 508a disconnects the wheel assembly
510a from the motor 506a so that the wheel assembly 510a remains
stationary. As the motor 506a rotates, only fan 504a, which is
coupled to the motor 506a rotates to provide cooling air flow to
the battery cells 204 of the energy module 200. Rotation assembly
502 includes wheel assembly 510b that is coupled to the motor 506b.
When a self-driving mode of the energy module 200 is engaged, the
controller 210 of the energy module 200 outputs a control signal
that causes clutch mechanism 508b to connect the wheel assembly
510b to the motor 506b so that the energy module 200 moves as the
motor 506b spins while fan 504b also rotates. Combining the wheel
assembly 510a,b and fan 504a,b into a single rotation assembly 500,
502 reduces an overall weight of the energy module 200 and reduces
a total number of components.
FIG. 6 is an exemplary illustration of a module chassis 602 of a
vehicle 600 with a modular energy management system 100, such as
the modular energy management system 100 described previously (FIG.
1). The module chassis 602 can be installed in the vehicle 600,
such as in an aft portion of a vehicle undercarriage or in a trunk
space of the vehicle 600. The module chassis 602 includes one or
more docking positions for the energy modules (e.g., energy module
200 in FIG. 2) of the modular energy management system 100. For
example, the module chassis 602 has six docking positions that
house six energy modules. In some implementations, each of the
docking positions in the module chassis 602 include one or more
electrical terminals 604 that electrically connect the one or more
energy modules to the energy management bus of the modular energy
management system 100. In some implementations, the electrical
terminals 604 provide a wired connection between the energy modules
and the energy management bus. The electric terminals 604 can also
include a wireless power transceiver configured to wirelessly
transfer power between the one or more energy modules and the
energy management bus in addition to or instead of the wired
connection. The electric terminals 604 also include circuitry for
communicating with the central controller 128 as well as the energy
modules. For example, the electric terminals 604 can output a
Bluetooth or BLE beacon signal that is detected by the energy
modules navigating to a predetermined docking position in the
module chassis 602.
The module chassis 602 also includes a door 610 that is
automatically controllable by the central controller 128 of the
modular energy management system 100. For example, the central
controller 128 can output a control signal to engage an actuator to
open the door 610 based on predetermined opening criteria. For
example, the predetermined opening criteria can include receiving a
module replacement signal from one of the energy modules,
determining that the vehicle 600 is within a predetermined distance
of a module charging station, and determining that the vehicle 600
is in a parked state or the engine is off, the central controller
128 issues a control signal to open the door 610 of the module
chassis 602. When in an open position, the door 610 provides a
driving surface between the module chassis 602 and a predetermined
location for the one or more energy modules operating in the
self-driving mode, such as a module charging station. In addition,
the central controller 128 outputs a control signal to engage an
actuator to close the door 610 based on predetermined closing
criteria. The predetermined closing criteria can include
determining that a predetermined number of energy modules are in
one or more of the docking positions and are electrically connected
to the energy management bus via the electric terminals 604.
In some aspects, in response to determining that the door 610 of
the module chassis 602 has reached the open position, the central
controller 128 can output control signals to the energy modules to
configure the energy management system 100 for module replacement
and/or repositioning. For example, if energy module 608 has met the
predetermined replacement criteria, the door 610 of the module
chassis 302 is open, and the modular energy management system 100
has been configured for standby operations, the central controller
128 issues the disconnection signal to the energy module 608 along
with a control signal to engage a self-driving mode in order to
navigate to a charging station. In response to receiving the
control signals, the energy module 608 disconnects from the energy
management bus 126 and engages the navigation sub-mode of the
self-driving mode.
In the navigation sub-mode, the local controller of the energy
module 608 receives location information about the charging station
or other predetermined location which the energy module 608 is
navigating. The location information can include a detected beacon
signal from the charging station that the energy module 608, a
control signal received from the central controller 128 about the
position of the charging station, and/or position coordinates of
the charging station received from the central controller 128 or
cloud-based energy module monitoring system. In some
implementations, the local controller of the energy module includes
positioning circuitry, such as a global positioning system (GPS)
receiver that allows the local controller to determine the location
of the charging station based on the received position coordinates.
When the self-driving mode is engaged, the local controller issues
control signals to the clutch mechanisms of the rotation assemblies
(e.g., rotation assemblies 202 in FIG. 2) to connect the motor to
the wheel assembly. The local controller also controls the speed
and direction of rotation of each of the rotation assemblies in
order to steer the energy module 608 to the charging station or
other predetermined location.
Energy module 612 represents an energy module operating in the
self-driving mode that is navigating to one of the docking
positions in the module chassis 602. For example, the energy module
612 may be a replacement energy module and/or charged energy module
that is navigating to module chassis 602 from the charging station.
The energy module 612 also navigates to the module chassis 602
based on received location information about the module chassis 602
and/or predetermined docking position to which the energy module
612 is assigned. In some implementations, the central controller
128 determines the predetermined docking position for the energy
module 612 based on a current module status of other energy modules
providing power to the energy management system 100 as well as
power demands of the electrical loads supplied by the modular
energy management system 100. When the predetermined docking
position is determined, the central controller 128 outputs a
control signal to trigger the electric terminals 604 of the
predetermined docking position to output a beacon signal that is
detected by the energy module 612. The local controller 210 of the
energy module 612 controls navigation of the energy module 612 to
the predetermined docking position based on the detected beacon
signal from the electric terminals for the predetermined docking
position. Once the energy module 612 has reached the predetermined
docking position, the energy module 612 is electrically connected
to the energy management bus 126 via the electric terminals
604.
Based on the configuration of the energy modules in the module
chassis 602, one or more of the energy modules may have to be
repositioned within the module chassis 602 in order to provide a
path for another energy module to navigate out of the module
chassis 602 or into a predetermined docking position in the module
chassis 602. For example, if energy module 614 has met the
predetermined replacement criteria and has received the
disconnection signal from the central controller 128, then the
central controller 128 also outputs a repositioning control signal
to energy module 616 in order to provide a path of travel for the
energy module. For example, in response to receiving the
repositioning control signal, the energy module 616 engages a
repositioning sub-mode of the self-driving mode. While in the
repositioning sub-mode, the energy module 616 exits the module
chassis 602 via the driving surface provided by the door 610 and
subsequently navigates back to a predetermined docking position in
the module chassis 602 once the energy module 614 has exited the
module chassis 602. The energy modules stored in the module chassis
602 can also be manually removed/disconnected or replaced/connected
from the module chassis 602.
FIG. 7 is an exemplary illustration 700 of an energy module 704
navigating to a charging station 702. The charging station 702 can
be at any type of public or private location, such as office
buildings, gas stations, grocery stores, shopping malls, hotels,
car dealers, mechanic garages, private residences, and the like.
The charging station 702 can include an AC charging device that can
charge various types of energy modules. For example, the energy
module 704 can be one of the energy modules that provide power to a
modular energy management system 100 of a vehicle, such as the
vehicle 600 (FIG. 600). The charging station 702 can include a
charging connector that attaches to the energy module 704. The
charging station 702 can also be configured to wirelessly charge
the energy module 704.
In response to receiving the disconnection signal and/or
self-driving mode engagement signal from the central controller
128, the energy module 704 navigates to the charging station 702
and establishes a connection with the charging station 702 at a
predetermined time. In some implementations, the energy module 704
navigates to the charging station 702 based on received location
information, such as through a detected beacon signal output from
the charging station 702. In some implementations, the cloud-based
energy module monitoring system can communicate a charging
connection time to the energy module 704 directly or via the
central controller 128 of the modular energy management system 100.
The charging connection time can correspond to a time where grid
energy costs are lowest or less than a predetermined threshold
cost. As will be discussed in further detail herein, the
cloud-based energy module monitoring system receives energy grid
cost information from locations of one or more charging stations
and can determine time periods where a cost to charge the energy
module 704 is lowest. Once charging operations are complete, the
energy module 704 disconnects from the charging station and
navigates to a predetermined location, such as back to the module
chassis of the vehicle or to a module storage location.
FIG. 8 is an exemplary illustration of an energy module application
where an energy module 802 is used as a portable transportation
device 800. In some implementations, the energy module 802 is an
implementation of the energy module 200 (FIG. 2) that includes
connectors that allow a footrest 804 to be detachably attached to
the energy module 802 to form the portable transportation device
800, which provides increased functionality and usability of the
energy module 802. For example, the energy module 802 can be
disconnected from the modular energy management system 100 to
operate as the portable transportation device 800. Connectors on
the footrest 804 connect to the connectors of the energy module
802, which can be attached with screws or any other type of
attachment mechanism.
When the energy module 802 is implemented as the portable
transportation device 802, the local controller can control the
energy module 802 in a transportation mode where the local
controller controls the direction and speed of rotation of the
rotation assemblies of the energy module 802 based on a received
input. In some implementations, the footrest 804 can be
electrically connected to the local controller of the energy module
802 and can also include pressure sensors that detect pressure from
a person standing on the footrest. The local controller of the
energy module 802 controls the speed and direction of travel of the
portable transportation device 800 based on a change in pressure
and a location of the pressure change. For example, the footrest
804 can include a pressure sensor on the right side and the left
side of the footrest where a user places a right foot and a left
foot, respectively. If a pressure increase is detected at the right
pressure sensor, then the local controller turns the energy module
802 to the right. If the pressure increase is detected at the left
pressure sensor, then the local controller turns the energy module
802 to the left. The local controller can modify the speed and/or
direction of motion of the portable transportation device based on
data received from other types of sensors connected to the footrest
804 as well as other types of received control signals. For
example, a user of the portable transportation device 800 can use a
remote control that is wirelessly connected to the local controller
of the energy module 802 to issue steering and/or speed change
commands to the energy module 802.
FIG. 9 is an exemplary diagram of a cloud-based energy module
monitoring system 900. The cloud-based energy module monitoring
system 900 includes an energy system server/controller 908 that can
be implemented in a cloud computing environment 910 in order to
provide increased scalability of an amount of data processed by the
energy system server/controller 908.
The cloud computing environment 910 may include one or more
resource providers, such as the energy system server/controller
908. Each resource provider may include computing resources. In
some implementations, computing resources may include any hardware
and/or software used to process data. For example, computing
resources may include hardware and/or software capable of executing
algorithms, computer programs, and/or computer applications. In
some implementations, exemplary computing resources may include
application servers and/or databases with storage and retrieval
capabilities. Each resource provider may be connected to any other
resource provider in the cloud computing environment 910. In some
implementations, the resource providers may be connected over a
network 912. Each resource provider may be connected to one or more
computing devices over the network 912, which may can be a cellular
communication network, satellite communication network, or any
other type of wireless communication network. For example, the
computing devices can include servers/controllers associated with
one or more entities monitored and controlled by the energy system
server/controller 908. For example, the one or more entities can
include private stations 902, public stations 904, or vehicles 906.
For example, the private stations 902 can include charging stations
or module storage sites that are located at private residences or
on other types of private property that may include office
buildings or mechanic garages. The public stations 904 can include
charging stations or module storage sites that are located at
publicly accessible sites that may include gas stations, shopping
malls, hotels, etc. The vehicles 906 can include any type of EV
that includes the modular energy management system 100 (FIG. 1) or
any other type of energy management that has power provided by one
or more of the energy modules 200 (FIG. 2).
The cloud computing environment 910 may include a resource manager.
The resource manager may be connected to the resource providers and
the computing devices over the network 912. In some
implementations, the resource manager may facilitate the provision
of computing resources by one or more resource providers to the
computing devices of the private stations 902, public stations 904,
or vehicles 906. The resource manager may receive a request for a
computing resource from a particular computing device. The resource
manager may identify one or more resource providers capable of
providing the computing resource requested by the computing device.
The resource manager may select a resource provider to provide the
computing resource. The resource manager may facilitate a
connection between the resource provider and a particular computing
device. In some implementations, the resource manager may establish
a connection between a particular resource provider and a
particular computing device. In some implementations, the resource
manager may redirect a particular computing device to a particular
resource provider with the requested computing resource.
In one implementation, the cloud computing environment 910 may
include GOOGLE Cloud Platform.TM., Amazon Web Services.TM. (AWS)
platform, or any other public or private cloud computing
environment. The processes associated with monitoring and/or
controlling the private stations 902, public stations 904, and
vehicles 906 can be executed on a computation processor, such as
the GOOGLE Compute Engine. The energy system server/controller 908
can also include an application processor, such as the GOOGLE App
Engine, that can be used as the interface with the private stations
902, public stations 904, and vehicles 906 to receive status data
about the energy modules and output location information regarding
locations of charging stations with a predetermined type of energy
module or updated operational specifications and procedures for the
energy modules. The energy system server/controller 908 also
includes one or more databases. In some implementations, the one or
more databases include a cloud storage database, such as the GOOGLE
Cloud Storage, which stores processed and unprocessed module status
data
The energy system server/controller 908 receives status data for
the charging stations and energy modules associated with the
private stations 902, public stations 904, or vehicles 906 that are
connected to the energy system server/controller via the network
912. Each of the private stations 902, public stations 904, and
vehicles 906 as well as the associated energy modules can be
uniquely identified by the energy system server/controller 908 by a
serial number or other unique identifier. The servers/controllers
at the private stations 902 and public stations 904 collect energy
module charging data, which can include module status data for the
energy modules that are charged at the private stations 902, which
is then transmitted to the energy system server/controller 908. The
module status data and charging station status data can include
dates and times of module charges, amount of time it takes to
charge the energy modules, energy grid cost and usage information
at the locations of the private stations 902 and public stations
904, measured sensor data (e.g., voltage, current, etc.) at the
energy modules during charging, etc. The central controller 128 of
the vehicles 906, which can be the central controller 128 described
previously (FIG. 1) that collects energy module status data for the
energy modules supplying power to the modular energy management
system 100. The module status data can include load demands on each
of the energy modules, module discharge rates, voltage and current
sensor data for each of the energy modules, and any other data that
indicates a SOC or SOH of the energy modules. In some
implementations, the controller 210 (FIG. 2) of individual energy
modules can communicate directly with the energy system
server/controller 908 via the network 912.
The energy system server/controller 908 can determine statistics
and operational recommendations or modifications for the energy
modules associated with the private stations 902, public stations
904, and vehicles 906 based on the received module status data and
charging station data. For example, the energy system
server/controller 908 can process the module status data for
millions of energy modules associated with the private stations
902, public stations 904, and vehicles 906 to identify
manufacturing deficiencies by measuring variations in performance
in energy modules manufactured at various times or manufacturing
sites. The energy system server/controller 908 can also identify
inefficiencies in software executed by the server/controllers of
the private stations 902, public stations 904, and vehicles 906. In
addition, the energy system server/controller 908 uses the energy
grid cost and usage information at the locations of the private
stations 902 and public stations 904 to determine locations for the
vehicles 906 to drive to for module charging.
If the energy system server/controller 908 identifies deficiencies
in one or more energy modules that indicate imminent failure or are
not correctable without outside intervention, the energy system
server/controller 908 can output warnings to the private stations
902, public stations 904, or vehicles 906 associated with the
defective energy modules. In some implementations, if the detected
deficiency indicates imminent failure of the one or more defective
energy modules, the energy system server/controller 908 can output
a control signal to immediately shutdown the defective energy
modules by issuing a control signal to the local controller at the
energy modules, via the controller/server at the private stations
902 or public stations 904, or via the central controller 128 of
the vehicles 906.
Based on the calculated statistics, the energy system
server/controller 908 can also output firmware/software updates for
the energy modules or charging stations to the private stations
902, public stations 904, and vehicles 906 via the network 912 to
improve performance and efficiency of the energy modules or
charging stations. In some implementations, in response to
receiving a module replacement signal from the central controller
128 of one of the vehicles 906, the energy system server/controller
908 can output a location of one of the public stations 904 that is
closest to a location of the vehicle 906 and/or has one or more
on-hand replacement modules that provides for a module replacement
time that is less than a predetermined threshold time. The energy
system server/controller 908 can also output a module charging time
associated with the location of the public station 904 that
corresponds to a time when the energy grid costs for the location
are at a cost that is less than a threshold cost.
FIG. 10 is an exemplary flowchart of an energy module control
process 1000. The energy module control process 1000 is described
herein with respect to the modular energy management system 100
(FIG. 1), the energy module 200 (FIG. 2), and the vehicle 600 (FIG.
6) but can also be applied to other types of self-driving energy
modules that can be independently controlled.
At step 1004, the energy module 200, which is an implementation of
the battery module 122 in the modular energy management system 100,
provides power to the energy management bus 126 to power one or
more electrical loads. In some implementations, the amount of power
output from the energy module 200 and rate of discharge are based
on control signals received from the central controller 128 of the
modular energy management system 100.
At step 1006, the controller 210 of the energy module 200
determines whether one or more predetermined replacement criteria
have been met at the energy module. The predetermined replacement
criteria can include a predetermined SOC threshold or SOH
threshold. For example, the predetermined SOC threshold may be a
percentage of full charge, such as 50%, 60%, or any other
percentage value. If the controller 210 determines that the one or
more replacement criteria have been met, resulting in a "yes" at
step 1006, then step 1006, then step 1008 is performed. Otherwise,
if the one or more replacement criteria have not been met,
resulting in a "no" at step 1006, then the process returns to step
1004, and the energy module 200 continues to provide power to the
energy management bus 126 of the modular energy management system
100.
At step 1008, the controller 210 outputs the replacement status
signal to the central controller 128 when one or more of the
predetermined replacement criteria have been met. In addition, the
controller 210 can output the current status of the energy module
110 to the central controller 128 at a predetermined frequency, and
the central controller 128 can determine when the predetermined
replacement criteria are met.
At step 1010, the controller 210 determines whether a disconnection
signal has been received from the central controller 128. If the
disconnection signal has been received from the central controller
128, resulting in a "yes" at step 1010, then step 1012 is
performed. Otherwise, if the disconnection has not been received
from the central controller 128, resulting in a "no" at step 1010,
then the process returns to step 1008.
At step 1012, in response to receiving the disconnection signal
from the central controller 128, the energy module 200 electrically
disconnects from the electric terminals 604 of the docking position
in the module chassis 602 and engages the self-driving mode. When a
self-driving mode of the energy module 200 is engaged, the
controller 210 of the energy module 200 outputs a control signal
that causes clutch mechanism 508b to connect the wheel assembly
510b to the motor 506b so that the energy module 200 moves as the
motor 506b spins while fan 504b also rotates.
At step 1016, the energy module 200 navigates to a charging station
or another docking position in the module chassis 602. In the
navigation sub-mode of the self-driving mode, the controller 210 of
the energy module 608 receives location information about the
charging station or other predetermined location which the energy
module 608 is navigating. The location information can include a
detected beacon signal from the charging station that the energy
module 608, a control signal received from the central controller
128 about the position of the charging station, and/or position
coordinates of the charging station received from the central
controller 128 or cloud-based energy module monitoring system. In
some implementations, the local controller of the energy module
includes positioning circuitry, such as a global positioning system
(GPS) receiver that allows the local controller to determine the
location of the charging station based on the received position
coordinates. When the self-driving mode is engaged, the local
controller issues control signals to the clutch mechanisms of the
rotation assemblies (e.g., rotation assemblies 202 in FIG. 2) to
connect the motor to the wheel assembly. The controller 210 also
controls the speed and direction of rotation of each of the
rotation assemblies in order to steer the energy module 608 to the
charging station or other predetermined location.
Based on the configuration of the energy modules in the module
chassis 602, one or more of the energy modules may have to be
repositioned within the module chassis 602 in order to provide a
path for another energy module to navigate out of the module
chassis 602 or into a predetermined docking position in the module
chassis 602. In response to receiving a repositioning control
signal from the central controller 128, energy module 616 engages a
repositioning sub-mode of the self-driving mode. While in the
repositioning sub-mode, the energy module 616 exits the module
chassis 602 via the driving surface provided by the door 610 and
subsequently navigates back to a predetermined docking position in
the module chassis 602 once the energy module 614 has exited the
module chassis 602. The energy modules stored in the module chassis
602 can also be manually removed/disconnected or replaced/connected
from the module chassis 602.
FIG. 11 is an exemplary flowchart of an energy management system
control process 1100. The energy management system control process
1100 is described herein with respect to the modular energy
management system 100 (FIG. 1), the energy module 200 (FIG. 2), and
the vehicle 600 (FIG. 6) but can also be applied to other types of
self-driving energy modules that can be independently
controlled.
At step 1102, the central controller 128 configures the modular
energy management system 100 based on characteristics of the energy
modules connected to the electric terminals in the docking stations
of the module chassis 602. For example, the energy modules can
include the battery modules 122 of the modular energy management
system 100. At step 1104, the connected energy modules provide
power to the vehicle drive train and various electrical loads of
the modular energy management system 100.
At step 1106, the central controller 128 determines whether a
replacement status signal has been received from one of the energy
modules. If a replacement status signal has been received,
resulting in a "yes" at step 1106, then step 1108 is performed.
Otherwise, if a replacement status signal has not been received,
resulting in a "no" at step 1106, then the process returns to step
1104.
At step 1108, the central controller 128 receives charging
station/module replacement data from the energy system
server/controller 908 of the cloud-based energy module monitoring
system 900. For example, the charging station/module replacement
data can include a position data indicating a location of a
charging station that is closest to the vehicle with the energy
module that has met the replacement criteria or has one or more
on-hand modules that are compatible with the modular energy
management system 100. In some implementations, the cloud-based
energy module monitoring system 900 can also communicate a charging
connection time that corresponds to a time where grid energy costs
are lowest or less than a predetermined threshold cost.
At step 1110, the central controller 128 determines whether the
vehicle 600 is at or within a predetermined distance of the
charging station/module replacement location. For example, the
central controller 128 determines that the vehicle 600 is at the
charging station location based on a location signal received from
a navigation system of the vehicle 600. If the vehicle 600 is at
the charging station/module replacement location, resulting in a
"yes" at step 1110, then step 1112 is performed. Otherwise, if the
vehicle 600 is not at the charging station/module replacement
location, resulting in a "no" at step 1110, then the process
returns to step 1108.
At step 1112, the central controller 128 outputs a control signal
to open the door 610 of the module chassis 602. The central
controller 128 can output the control signal to engage an actuator
to open the door 610 based on predetermined opening criteria. For
example, the predetermined opening criteria can include receiving a
module replacement signal from one of the energy modules,
determining that the vehicle 600 is within a predetermined distance
of a module charging/replacement station, and determining that the
vehicle 600 is in a parked state or the engine is off, the central
controller 128 issues a control signal to open the door 610 of the
module chassis 602. When in an open position, the door 610 provides
a driving surface between the module chassis 602 and a
predetermined location for the one or more energy modules operating
in the self-driving mode, such as a module charging/replacement
station.
At step 1114, the central controller 128 controls the navigation of
the energy modules between the module 602 chassis and the
predetermined location as well as the repositioning of the energy
modules. If energy module 606 (FIG. 6) has met the predetermined
replacement criteria, the door 610 of the module chassis 302 is
open, and the energy management system 100 has been configured for
standby operations, the central controller 128 issues the
disconnection signal to the energy module 606 along with a control
signal to engage a self-driving mode in order to navigate to a
charging station. In response to receiving the control signals, the
energy module 606 disconnects from the energy management bus and
engages the navigation sub-mode of the self-driving mode.
The central controller 128 also outputs a repositioning control
signal to one or more energy modules in order to provide a path of
travel for an energy module 614 being replaced. For example, in
response to receiving the repositioning control signal, energy
module 616 engages a repositioning sub-mode of the self-driving
mode. While in the repositioning sub-mode, the energy module 616
exits the module chassis 602 via the driving surface provided by
the door 610 and subsequently navigates back to a predetermined
docking position in the module chassis 602 once the energy module
614 has exited the module chassis 602.
The energy module 612 (FIG. 6) represents an energy module
operating in the self-driving mode that is navigating to one of the
docking positions in the module chassis 602. For example, the
energy module 612 may be a replacement energy module and/or charged
energy module that is navigating to module chassis 602 from the
charging station. The energy module 612 also navigates to the
module chassis 602 based on received location information about the
module chassis 602 and/or predetermined docking position to which
the energy module 612 is assigned. In some implementations, the
central controller 128 determines the predetermined docking
position for the energy module 612 based on a current module status
of other energy modules providing power to the energy management
system 100 as well as power demands of the electrical loads
supplied by the modular energy management system 100. When the
predetermined docking position is determined, the central
controller 128 outputs a control signal to trigger the electric
terminals 604 of the predetermined docking position to output a
beacon signal that is detected by the energy module 612. The local
controller 210 of the energy module 612 controls navigation of the
energy module 612 to the predetermined docking position based on
the detected beacon signal from the electric terminals for the
predetermined docking position.
At step 1116, the central controller 128 reconfigures the energy
modules in the module chassis 602 for an operational mode and
closes the door 610 of the module chassis 602. The central
controller 128 outputs a control signal to engage an actuator to
close the door 610 based on predetermined closing criteria. The
predetermined closing criteria can include determining that a
predetermined number of energy modules are in one or more of the
docking positions and are electrically connected to the energy
management bus via the electric terminals 604.
FIG. 12 is an exemplary flowchart of an energy module monitoring
system control process 1200. The energy module monitoring system
control process 1200 is described herein with respect to the
cloud-based energy module monitoring system 900 (FIG. 9), but can
also be applied to other types and configurations of energy module
monitoring systems.
At step 1202, the energy system server/controller 908 connects to
one or more computing devices associated with the private stations
902, public stations 904, and/or vehicles 906 via the network 912,
which may be a cellular communication network, satellite
communication network, or any other type of wireless communication
network. For example, the computing devices can include
servers/controllers associated with one or more entities monitored
and controlled by the energy system server/controller 908. When the
connection between private stations 902, public stations 904,
and/or vehicles 906 and the energy system server/controller 908 is
established, the energy system server/controller 908 identifies the
computing devices and associated energy modules based on a unique
identifier, such as a serial number.
At step 1204, the energy system server/controller 908 receives
status data for the charging stations and energy modules associated
with the private stations 902, public stations 904, or vehicles 906
that are connected to the energy system server/controller via the
network 912. Each of the private stations 902, public stations 904,
and vehicles 906 as well as the associated energy modules can be
uniquely identified by the energy system server/controller 908 by a
serial number or other unique identifier. The servers/controllers
at the private stations 902 and public stations 904 collect energy
module charging data, which can include module status data for the
energy modules that are charged at the private stations 902, which
is then transmitted to the energy system server/controller 908. The
module status data and charging station status data can include
dates and times of module charges, amount of time it takes to
charge the energy modules, energy grid cost and usage information
at the locations of the private stations 902 and public stations
904, measured sensor data (e.g., voltage, current, etc.) at the
energy modules during charging, etc. The central controller of the
vehicles 906, which can be the central controller 128 described
previously (FIG. 1) that collects energy module status data for the
energy modules supplying power to the modular energy management
system 100. The module status data can include load demands on each
of the energy modules, module discharge rates, voltage and current
sensor data for each of the energy modules, and any other data that
indicates a SOC or SOH of the energy modules. In some
implementations, the controller 210 (FIG. 2) of individual energy
modules can communicate directly with the energy system
server/controller 908 via the network 912.
At step 1206, the energy system server/controller 908 determines
statistics and operational recommendations or modifications for the
energy modules associated with the private stations 902, public
stations 904, and vehicles 906 based on the received module status
data and charging station data. For example, the energy system
server/controller 908 can process the module status data for
millions of energy modules associated with the private stations
902, public stations 904, and vehicles 906 to identify
manufacturing deficiencies by measuring variations in performance
in energy modules manufactured at various times or manufacturing
sites. The energy system server/controller 908 can also identify
inefficiencies in software executed by the server/controllers of
the private stations 902, public stations 904, and vehicles 906. In
addition, the energy system server/controller 908 uses the energy
grid cost and usage information at the locations of the private
stations 902 and public stations 904 to determine locations for the
vehicles 906 to drive to for module charging.
At step 1208, the energy system server/controller 908 outputs
operational modifications and/or charging/replacement information
to the private stations 902, public stations 904, and vehicles 906.
For example, if the energy system server/controller 908 identifies
deficiencies in one or more energy modules that indicate imminent
failure or are not correctable without outside intervention, the
energy system server/controller 908 can output warnings to the
private stations 902, public stations 904, or vehicles 906
associated with the defective energy modules. In some
implementations, if the detected deficiency indicates imminent
failure of the one or more defective energy modules, the energy
system server/controller 908 can output a control signal to
immediately shutdown the defective energy modules by issuing a
control signal to the local controller at the energy modules, via
the controller/server at the private stations 902 or public
stations 904, or via the central controller of the vehicles
906.
Based on the calculated statistics, the energy system
server/controller 908 can also output firmware/software updates for
the energy modules or charging stations to the private stations
902, public stations 904, and vehicles 906 via the network 912 to
improve performance and efficiency of the energy modules or
charging stations. In some implementations, in response to
receiving a module replacement signal from the central controller
of one of the vehicles 906, the energy system server/controller 908
can output a location of one of the public stations 904 that is
closest to a location of the vehicle 906 and/or has one or more
on-hand replacement modules that provides for a module replacement
time that is less than a predetermined threshold time. The energy
system server/controller 908 can also output a module charging time
associated with the location of the public station 904 that
corresponds to a time when the energy grid costs for the location
are at a cost that is less than a threshold cost.
Aspects of the present disclosure are directed to a modular energy
management system that includes lightweight, self-driving energy
modules that are able to independently navigate to charging
stations or other locations. The energy modules described herein
are significantly improved over energy modules used in HV's that
are heavy and require manual installation and replacement. The
modularity of the energy modules and the adaptability of the
modular energy management system also allows for interchangeability
with other energy modules that are compatible with the modular
energy management system. In addition, the energy modules can be
used in multiple types of charging and transportation
applications.
Blocks or circuits of computer architecture (i.e., circuitry) shown
or described herein can be implemented in a single processing
system, or distributed across a plurality of processing systems,
which may be referred to as separate processors or circuits. For
instance, each of the blocks of architecture can be a discrete
processor, system, or logic component. Further, exemplary functions
or features can be performed by common circuitry or by a general
purpose processor executing specific instructions.
FIG. 13 illustrates an exemplary processing system 1300 (i.e., an
exemplary processor or circuitry). One or more of such processing
systems can be utilized in or to execute one or more algorithms, or
portions thereof, or one or more architecture blocks, or portions
thereof, in accordance with the descriptions provided herein. The
system can be embodied and/or implemented as an electronic control
unit (ECU) or a discrete computer installed in a vehicle or as a
server in a cloud computing environment. For example, the
processing system 1300 can be the controller 210 in one of the
energy modules, the central controller 128 of the modular energy
management system 100, or a server/controller of the private
stations 902 or public stations 904. The processing system 1300 can
also be the energy system server/controller 908 of the cloud-based
module monitoring system 900.
The exemplary processing system 1300 can be implemented using one
or more microprocessors or the equivalent, such as a central
processing unit (CPU) 1302 and/or at least one application specific
processor ASP (not shown). The microprocessor is circuitry that
utilizes a computer readable storage medium, such as a memory
circuit (e.g., ROM, EPROM, EEPROM, flash memory, static memory,
DRAM, SDRAM, and their equivalents), configured to control the
microprocessor to perform and/or control the processes and systems
of this disclosure. Other storage mediums can be controlled via a
controller, such as a disk controller 1304, which can controls a
hard disk drive or optical disk drive.
The microprocessor or aspects thereof, in alternate
implementations, can include or exclusively include a logic device
for augmenting or fully implementing this disclosure. Such a logic
device includes, but is not limited to, an application-specific
integrated circuit (ASIC), a field programmable gate array (FPGA),
a generic-array of logic (GAL), and their equivalents. The
microprocessor can be a separate device or a single processing
mechanism. Further, this disclosure can benefit from parallel
processing capabilities of a multi-cored CPU 1302. Control
circuitry provided by one or more processors in a multi-processing
arrangement may also be employed to execute sequences of
instructions contained in memory 1310. Alternatively, hard-wired
circuitry may be used in place of or in combination with software
instructions. Thus, the exemplary implementations discussed herein
are not limited to any specific combination of hardware circuitry
and software.
In another aspect, results of processing in accordance with this
disclosure can be displayed via a display controller 1306 to a
monitor 1308. The display controller 1306 preferably includes at
least one graphic processing unit, which can be provided by a
plurality of graphics processing cores, for improved computational
efficiency. The display controller 1306 or portions thereof can
also be incorporated into the CPU 1302. Additionally, an I/O
(input/output) interface 1314 is provided for inputting signals
and/or data from a microphone, speakers, cameras, a mouse, a
keyboard, a touch-based display or pad interface, etc., which can
be connected to the I/O interface as a peripheral 1316. For
example, a keyboard or a pointing device for controlling parameters
of the various processes or algorithms of this disclosure can be
connected to the I/O interface to provide additional functionality
and configuration options, or control display characteristics.
Moreover, the monitor 1308 can be provided with a touch-sensitive
or gesture-detecting interface for providing a command/instruction
interface.
In an exemplary implementation, the I/O interface is provided for
inputting sensor data from Sensors 1, 2 . . . N 1320. The sensors
can include battery voltage sensors, temperature sensors, current
sensors, or sensors that can detect opening or closing of a switch.
Other sensors that input data to the I/O interface may include
velocity sensors, acceleration sensors, steering sensors, gyroscope
sensors, and the like. In addition, the I/O interface is provided
for inputting data from one or more controllers 1318 that enable a
user to control the configuration of the modular energy management
system 100. For example, the user can use the controller 1318 to
select energy modules to provide power to one or more auxiliary
electrical loads when the modular energy management system is in
standby mode. The I/O interface can also provide an interface for
outputting control signals to one or more actuators 1322 to control
various actuated components, including DC-DC conversion circuitry
and other circuitry in the modular energy management system 100. In
some implementations, the actuators 1320 send control signals to
align the clutch mechanisms of the rotation assemblies 202 to
connect the wheel assemblies 214 to the motor 208 of the energy
module 200.
The I/O interface can also be connected to a mobile device, such as
a smartphone and/or a portable storage device. The I/O interface
can include a Universal Serial Bus (USB) hub, Bluetooth circuitry,
Near Field Communication (NFC) circuitry, or other wired or
wireless communication circuits. In some aspects, the mobile device
can provide sensor input, navigation input, and/or network
access.
The above-noted components can be coupled to a network 1324, such
as the Internet or a local intranet, via a network interface 1326
for the transmission or reception of data, including controllable
parameters. The network interface 1326 can include one or more IEEE
802 compliant circuits. A central bus 1312 is provided to connect
the above hardware components/circuits together and provides at
least one path for digital communication there between.
The processing system may be a networked desktop computer,
terminal, or personal device, such as a tablet computer or a mobile
phone. The database discussed above may be stored remotely on a
server, and the server may include components similar to or the
same as the processing system. These devices may communicate via
the network.
Suitable software, such as an operating system or an application,
can be tangibly stored on a computer readable medium of a
processing system, including the memory 1310 and storage devices.
Other examples of computer readable media are compact discs, hard
disks, floppy disks, tape, magneto-optical disks, PROMs (EPROM,
EEPROM, flash EPROM), DRAM, SRAM, SDRAM, or any other magnetic
medium, compact discs (e.g., CD-ROM), or any other medium from
which a computer can read. The software may include, but is not
limited to, device drivers, operating systems, development tools,
applications software, and/or a graphical user interface.
Computer code elements on the above-noted medium may be any
interpretable or executable code mechanism, including but not
limited to scripts, interpretable programs, dynamic link libraries
(DLLs), Java classes, and complete executable programs. Moreover,
parts of the processing of aspects of this disclosure may be
distributed for better performance, reliability and/or cost.
The procedures and routines described herein can be embodied as a
device, system, method, or computer program product, and can be
executed via one or more dedicated circuits or programmed
processors. Accordingly, the descriptions provided herein may take
the form of exclusively hardware, exclusively software executed on
hardware (including firmware, resident software, micro-code, etc.),
or through a combination of dedicated hardware components and
general processors that are configured by specific algorithms and
process codes. Hardware components are referred to as a "circuit,"
"module," "unit," "device," or "system." Executable code that is
executed by hardware is embodied on a tangible memory device, such
as a computer program product. Examples include CDs, DVDs, flash
drives, hard disk units, ROMs, RAMs, and other memory devices.
Reference has been made to flowchart illustrations and block
diagrams of methods, systems and computer program products
according to implementations of this disclosure. Aspects thereof
are implemented by computer program instructions. These computer
program instructions may be provided to a processor of a general
purpose computer, special purpose computer, or other programmable
data processing apparatus to produce a machine, such that the
instructions, which execute via the processor of the computer or
other programmable data processing apparatus, create means for
implementing the functions/acts specified in the flowchart and/or
block diagram block or blocks.
These computer program instructions may also be stored in a
computer-readable medium that can direct a computer or other
programmable data processing apparatus to function in a particular
manner, such that the instructions stored in the computer-readable
medium produce an article of manufacture including instruction
means which implement the function/act specified in the flowchart
and/or block diagram block or blocks.
The computer program instructions may also be loaded onto a
computer or other programmable data processing apparatus to cause a
series of operational steps to be performed on the computer or
other programmable apparatus to produce a computer implemented
process such that the instructions which execute on the computer or
other programmable apparatus provide processes for implementing the
functions/acts specified in the flowchart and/or block diagram
block or blocks.
A number of implementations have been described. Nevertheless, it
will be understood that various modifications may be made without
departing from the spirit and scope of this disclosure. For
example, preferable results may be achieved if the steps of the
disclosed techniques were performed in a different sequence, if
components in the disclosed systems were combined in a different
manner, or if the components were replaced or supplemented by other
components. The functions, processes and algorithms described
herein may be performed in hardware or software executed by
hardware, including computer processors and/or programmable
circuits configured to execute program code and/or computer
instructions to execute the functions, processes and algorithms
described herein. Additionally, an implementation may be performed
on modules or hardware not identical to those described.
Accordingly, other implementations are within the scope that may be
claimed.
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